try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/smoothing/SmoothingSensor.cpp

@@ -0,0 +1,57 @@
+#include "SmoothingSensor.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+
+SmoothingSensor::SmoothingSensor(Sensor& s, const FOCMotor& m) : _wrapped(s), _motor(m)
+{
+}
+
+
+void SmoothingSensor::update() {
+  // Update sensor, with optional downsampling of update rate
+  if(sensor_cnt++ >= sensor_downsample) {
+    sensor_cnt = 0;
+    _wrapped.update();
+  }
+
+  // Copy state variables from the sensor
+  angle_prev = _wrapped.angle_prev;
+  angle_prev_ts = _wrapped.angle_prev_ts;
+  full_rotations = _wrapped.full_rotations;
+
+  // Perform angle prediction, using low-pass filtered velocity. But don't advance more than
+  // pi/3 (equivalent to one step of block commutation) from the last true angle reading.
+  float dt = (_micros() - angle_prev_ts) * 1e-6f;
+  angle_prev += _motor.sensor_direction * _constrain(_motor.shaft_velocity * dt, -_PI_3 / _motor.pole_pairs, _PI_3 / _motor.pole_pairs);
+
+  // Apply phase correction if needed
+  if (phase_correction != 0) {
+    if (_motor.shaft_velocity < -0) angle_prev -= _motor.sensor_direction * phase_correction / _motor.pole_pairs;
+    else if (_motor.shaft_velocity > 0) angle_prev += _motor.sensor_direction * phase_correction / _motor.pole_pairs;
+  }
+
+  // Handle wraparound of the projected angle
+  if (angle_prev < 0) full_rotations -= 1, angle_prev += _2PI;
+  else if (angle_prev >= _2PI) full_rotations += 1, angle_prev -= _2PI;
+}
+
+
+float SmoothingSensor::getVelocity() {
+  return _wrapped.getVelocity();
+}
+
+
+int SmoothingSensor::needsSearch() {
+  return _wrapped.needsSearch();
+}
+
+
+float SmoothingSensor::getSensorAngle() {
+  return _wrapped.getSensorAngle();
+}
+
+
+void SmoothingSensor::init() {
+  _wrapped.init();
+}